1 /*******************************************************************************
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2 * Copyright (c) 2012, 2013 Association for Decentralized Information Management in
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4 * All rights reserved. This program and the accompanying materials
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5 * are made available under the terms of the Eclipse Public License v1.0
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6 * which accompanies this distribution, and is available at
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7 * http://www.eclipse.org/legal/epl-v10.html
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10 * VTT Technical Research Centre of Finland - initial API and implementation
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11 *******************************************************************************/
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12 package org.simantics.opencascade.vtk;
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14 import java.util.List;
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16 import javax.vecmath.Matrix4d;
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17 import javax.vecmath.Point3d;
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19 import org.jcae.opencascade.jni.BRepMesh_IncrementalMesh;
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20 import org.jcae.opencascade.jni.BRep_Tool;
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21 import org.jcae.opencascade.jni.GP_Trsf;
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22 import org.jcae.opencascade.jni.Poly_Triangulation;
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23 import org.jcae.opencascade.jni.TopAbs_Orientation;
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24 import org.jcae.opencascade.jni.TopAbs_ShapeEnum;
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25 import org.jcae.opencascade.jni.TopExp_Explorer;
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26 import org.jcae.opencascade.jni.TopLoc_Location;
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27 import org.jcae.opencascade.jni.TopoDS_Face;
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28 import org.jcae.opencascade.jni.TopoDS_Shape;
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29 import org.simantics.opencascade.OCCTTool;
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31 import vtk.vtkActor;
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32 import vtk.vtkAlgorithmOutput;
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33 import vtk.vtkAppendPolyData;
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34 import vtk.vtkAssembly;
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35 import vtk.vtkCleanPolyData;
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36 import vtk.vtkDataSetMapper;
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37 import vtk.vtkFeatureEdges;
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38 import vtk.vtkGlyph3D;
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39 import vtk.vtkIdList;
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40 import vtk.vtkPoints;
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41 import vtk.vtkPolyData;
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42 import vtk.vtkPolyDataMapper;
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43 import vtk.vtkPolyDataNormals;
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45 import vtk.vtkPropCollection;
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46 import vtk.vtkProperty;
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47 import vtk.vtkSphereSource;
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48 import vtk.vtkTriangle;
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50 public class VTKOCCTool {
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51 public static vtkAssembly vtkTestAssembly() {
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52 vtkAssembly assemblies = new vtkAssembly();
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53 vtkPolyData partGrid = createTestPartGrid();
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54 gridToAssembly(assemblies, partGrid);
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58 public static vtkAssembly vtkOCCShapeToAssembly(TopoDS_Shape shape) {
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59 double deflection = 0.001;
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61 if (deflection <= 0.0) {
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62 deflection = 0.0005;
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63 System.out.println("Bad value for deflection. Using: " + deflection);
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66 // FIXME : leaks memory!
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67 //BRepTools.clean(shape);
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69 double mass = OCCTTool.getMass(shape);
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71 if (mass < 1.0e-12) {
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72 System.out.println("Non 3D-shape detected");
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73 System.out.println("The cad import features are currently limited to 3D models.");
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76 double length = OCCTTool.getBoundingBoxDiagonal(shape);
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77 deflection *= length; // use relative units
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79 BRepMesh_IncrementalMesh mesh = new BRepMesh_IncrementalMesh(shape,deflection);
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82 TopExp_Explorer expFace = new TopExp_Explorer();
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84 vtkAssembly assemblies = new vtkAssembly();
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85 for (expFace.init(shape, TopAbs_ShapeEnum.FACE); expFace.more(); expFace.next()) {
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86 TopoDS_Face face = (TopoDS_Face) expFace.current();
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87 vtkPolyData partGrid = createPartGrid(face);
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89 if (partGrid == null)
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92 //gridToAssembly(assemblies, partGrid, stlSurfaceData, stlEdgeData);
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93 gridToAssembly(assemblies, partGrid);
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99 if (faceNumber == 0) {
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101 .println("Cad import: error: no surface triangulation was generated.");
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108 private static void gridToAssembly(vtkAssembly assemblies, vtkPolyData partGrid, vtkAppendPolyData stlSurfaceData, vtkAppendPolyData stlEdgeData) {
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110 double featureAngle = 30;
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113 vtkDataSetMapper partMapper = new vtkDataSetMapper();
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115 boolean computeNormals = true;
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116 boolean cleanPart = true;
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117 boolean mergePoints = false;
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119 vtkCleanPolyData partCleaner = new vtkCleanPolyData();
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122 partCleaner.SetInput(partGrid);
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124 partCleaner.PointMergingOn();
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126 partCleaner.PointMergingOff();
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130 if (computeNormals)
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132 vtkPolyDataNormals partNormals = new vtkPolyDataNormals();
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136 partNormals.SetInputConnection(partCleaner.GetOutputPort());
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138 else partNormals.SetInput(partGrid);
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140 partNormals.SetFeatureAngle(featureAngle); // this do not have to be neccesarily called
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141 partMapper.SetInputConnection(partNormals.GetOutputPort());
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142 partNormals.Delete();
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146 if (cleanPart) partMapper.SetInputConnection(partCleaner.GetOutputPort()); // metoda 2, ne tak pekne, viz http://www.codeguru.com/cpp/g-m/opengl/article.php/c2681
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147 else partMapper.SetInput(partGrid); // metoda 1, ne tak pekne stinovani, viz: http://www.codeguru.com/cpp/g-m/opengl/article.php/c2681
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149 partMapper.ScalarVisibilityOn();
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151 vtkActor partActor = new vtkActor();
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153 partActor.SetPickable(1);
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154 partActor.GetProperty().SetColor(1, 1, 0);
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155 partActor.SetMapper(partMapper);
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157 // EDGES OF PARTS DETECTION
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158 vtkFeatureEdges partEdges = new vtkFeatureEdges();
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159 if (cleanPart) partEdges.SetInputConnection(partCleaner.GetOutputPort());
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160 else partEdges.SetInput(partGrid);
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161 partEdges.SetFeatureAngle(featureAngle); // this do not have to be neccesarily called
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162 partEdges.FeatureEdgesOn();
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163 partEdges.BoundaryEdgesOn();
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164 partEdges.NonManifoldEdgesOn();
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165 partEdges.ManifoldEdgesOn();
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167 vtkDataSetMapper partEdgesMapper = new vtkDataSetMapper();
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168 partEdgesMapper.SetInputConnection(partEdges.GetOutputPort());
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169 partEdgesMapper.SetResolveCoincidentTopologyToPolygonOffset();
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170 partEdgesMapper.ScalarVisibilityOff();
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172 vtkActor partEdgesActor = new vtkActor();
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173 partEdgesActor.SetPickable(0);
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174 partEdgesActor.GetProperty().SetColor(1, 0, 1);
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175 partEdgesActor.SetMapper(partEdgesMapper);
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178 // Add triangles and edges to STL structures:
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179 //--------------------------------------------
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180 if (cleanPart) stlSurfaceData.AddInput(partCleaner.GetOutput());
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181 else stlSurfaceData.AddInput(partGrid);
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182 stlEdgeData.AddInput(partEdges.GetOutput());
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184 assemblies.AddPart(partActor);
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185 assemblies.AddPart(partEdgesActor);
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189 partEdgesActor.Delete();
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190 partEdgesMapper.Delete();
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191 partEdges.Delete();
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192 partActor.Delete();
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193 partMapper.Delete();
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195 partCleaner.Delete();
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198 public static void gridToAssembly(vtkAssembly assemblies, vtkPolyData partGrid) {
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200 double featureAngle = 30;
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203 vtkDataSetMapper partMapper = new vtkDataSetMapper();
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205 boolean computeNormals = true;
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206 boolean cleanPart = false;
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207 boolean mergePoints = false;
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209 vtkCleanPolyData partCleaner = new vtkCleanPolyData();
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212 partCleaner.SetInput(partGrid);
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214 partCleaner.PointMergingOn();
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216 partCleaner.PointMergingOff();
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220 if (computeNormals)
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222 vtkPolyDataNormals partNormals = new vtkPolyDataNormals();
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226 vtkAlgorithmOutput out = partCleaner.GetOutputPort();
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227 partNormals.SetInputConnection(out);
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230 else partNormals.SetInput(partGrid);
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232 partNormals.SetFeatureAngle(featureAngle); // this do not have to be neccesarily called
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233 vtkAlgorithmOutput out = partNormals.GetOutputPort();
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234 partMapper.SetInputConnection(out);
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236 partNormals.Delete();
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241 vtkAlgorithmOutput out = partCleaner.GetOutputPort();
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242 partMapper.SetInputConnection(out); // metoda 2, ne tak pekne, viz http://www.codeguru.com/cpp/g-m/opengl/article.php/c2681
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245 else partMapper.SetInput(partGrid); // metoda 1, ne tak pekne stinovani, viz: http://www.codeguru.com/cpp/g-m/opengl/article.php/c2681
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247 partMapper.ScalarVisibilityOn();
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249 vtkActor partActor = new vtkActor();
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250 partActor.SetPickable(1);
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251 vtkProperty prop = partActor.GetProperty();
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252 prop.SetColor(1, 1, 0);
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254 partActor.SetMapper(partMapper);
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256 assemblies.AddPart(partActor);
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259 // EDGES OF PARTS DETECTION
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260 vtkFeatureEdges partEdges = new vtkFeatureEdges();
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262 vtkAlgorithmOutput out = partCleaner.GetOutputPort();
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263 partEdges.SetInputConnection(out);
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266 else partEdges.SetInput(partGrid);
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267 // partEdges.SetFeatureAngle(featureAngle); // this do not have to be neccesarily called
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268 partEdges.FeatureEdgesOn();
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269 partEdges.BoundaryEdgesOn();
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270 partEdges.NonManifoldEdgesOn();
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271 partEdges.ManifoldEdgesOn();
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273 vtkDataSetMapper partEdgesMapper = new vtkDataSetMapper();
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274 vtkAlgorithmOutput out = partEdges.GetOutputPort();
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275 partEdgesMapper.SetInputConnection(out);
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277 partEdgesMapper.SetResolveCoincidentTopologyToPolygonOffset();
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278 partEdgesMapper.ScalarVisibilityOff();
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280 vtkActor partEdgesActor = new vtkActor();
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282 prop = partEdgesActor.GetProperty();
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283 prop.SetColor(0, 0, 0);
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284 prop.SetLineWidth(2.0);
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286 partEdgesActor.SetMapper(partEdgesMapper);
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287 partEdgesActor.PickableOn();
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289 assemblies.AddPart(partEdgesActor);
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293 EdgePointsFilter edgePoints = new EdgePointsFilter();
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296 out = partEdges.GetOutputPort();
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297 edgePoints.SetInputConnection(out);
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300 // vtkDataSetMapper partEdgePointsMapper = new vtkDataSetMapper();
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301 // out = edgePoints.GetOutputPort();
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302 // partEdgePointsMapper.SetInputConnection(out);
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305 // vtkVertexGlyphFilter glyphFilter = new vtkVertexGlyphFilter();
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306 // out = edgePoints.GetOutputPort();
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307 // glyphFilter.SetInputConnection(out);
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308 // glyphFilter.Update();
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311 // vtkPolyDataMapper partEdgePointsMapper = new vtkPolyDataMapper();
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312 // out = glyphFilter.GetOutputPort();
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313 // partEdgePointsMapper.SetInputConnection(out);
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316 vtkSphereSource sphereSource = new vtkSphereSource();
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317 vtkGlyph3D glyph3D = new vtkGlyph3D();
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318 out = sphereSource.GetOutputPort();
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319 glyph3D.SetSourceConnection(out);
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322 out = edgePoints.GetOutputPort();
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323 glyph3D.SetInputConnection(out);
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326 //glyph3D.ScalingOff();
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327 glyph3D.SetScaleFactor(0.03);
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331 vtkPolyDataMapper partEdgePointsMapper = new vtkPolyDataMapper();
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332 out = glyph3D.GetOutputPort();
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333 partEdgePointsMapper.SetInputConnection(out);
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336 vtkActor edgePointsActor = new vtkActor();
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338 prop = edgePointsActor.GetProperty();
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339 prop.SetColor(0, 0, 1);
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340 //prop.SetPointSize(10.0);
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341 //prop.SetRepresentationToPoints();
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343 edgePointsActor.SetMapper(partEdgePointsMapper);
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345 edgePointsActor.PickableOn();
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346 assemblies.AddPart(edgePointsActor);
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349 edgePointsActor.Delete();
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350 partEdgePointsMapper.Delete();
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351 // edgePoints.Delete();
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355 partEdgesActor.Delete();
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356 partEdgesMapper.Delete();
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357 partEdges.Delete();
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360 partActor.Delete();
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361 partMapper.Delete();
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363 partCleaner.Delete();
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368 public static vtkPolyData createPartGrid ( TopoDS_Face face)
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370 TopLoc_Location Location = new TopLoc_Location();
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372 Poly_Triangulation triangulation = BRep_Tool.triangulation(face, Location);
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374 if(triangulation == null) {
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376 System.out.println("Encountered empty triangulation after face");
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380 boolean reverse = face.orientation()==TopAbs_Orientation.REVERSED;
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382 int[]triangles = triangulation.triangles();
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383 double[]nodes = triangulation.nodes();
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385 int nofTriangles = triangulation.nbTriangles();
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386 int nofNodes = triangulation.nbNodes();
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388 triangulation.delete();
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390 if(nofTriangles < 1) {
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391 System.out.println("No triangles for mesh on face");
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397 System.out.println("No nodes for mesh on face:");
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401 //System.out.println("v " + nofNodes + " t " +nofTriangles);
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402 vtkPolyData partGrid = new vtkPolyData();
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403 partGrid.Allocate(nofTriangles, nofTriangles);
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405 vtkTriangle triangle = new vtkTriangle();
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406 vtkIdList list = triangle.GetPointIds();
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407 for(int i = 0; i < nofTriangles; i++)
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411 n0 = triangles[3 * i];
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412 n1 = triangles[3 * i + 1];
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413 n2 = triangles[3 * i + 2];
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415 n0 = triangles[3 * i + 2];
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416 n1 = triangles[3 * i + 1];
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417 n2 = triangles[3 * i];
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423 partGrid.InsertNextCell(triangle.GetCellType(), list);
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427 triangle.Delete();
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429 GP_Trsf transformation = Location.transformation();
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432 double d_mat[] = new double[16];
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433 double d_p[] = new double[3];
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434 transformation.getValues(d_mat);
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435 Matrix4d mat = new Matrix4d(d_mat);
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437 vtkPoints partPoints = new vtkPoints();
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439 for(int i = 0; i < nofNodes; i++) {
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440 // FIXME: GP_Trsf.transform(double[]) leaks memory
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442 //double xyz[] = new double[]{nodes[3 * i], nodes[3 * i + 1], nodes[3 * i + 2]};
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443 //transformation.transforms(xyz);
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444 //partPoints.InsertPoint(i, xyz);
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445 Point3d p = new Point3d(nodes[3 * i], nodes[3 * i + 1], nodes[3 * i + 2]);
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450 partPoints.InsertPoint(i, d_p);
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453 transformation.delete();
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455 partGrid.SetPoints(partPoints);
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456 partPoints.Delete();
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463 public static vtkPolyData createPartGrid ( List<Double> meshPoints, List<Integer> meshTriangles)
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470 int nofTriangles = meshTriangles.size() / 3;
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471 int nofNodes = meshPoints.size() /3;
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474 if(nofTriangles < 1) {
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475 System.out.println("No triangles for mesh on face");
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480 System.out.println("No nodes for mesh on face:");
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483 //System.out.println("v " + nofNodes + " t " +nofTriangles);
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484 vtkPolyData partGrid = new vtkPolyData();
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485 partGrid.Allocate(nofTriangles, nofTriangles);
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487 vtkTriangle triangle = new vtkTriangle();
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488 vtkIdList list = triangle.GetPointIds();
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489 for(int i = 0; i < nofTriangles; i++)
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492 n0 = meshTriangles.get(3 * i);
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493 n1 = meshTriangles.get(3 * i + 1);
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494 n2 = meshTriangles.get(3 * i + 2);
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500 partGrid.InsertNextCell(triangle.GetCellType(), list);
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504 triangle.Delete();
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508 double d_p[] = new double[3];
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511 vtkPoints partPoints = new vtkPoints();
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513 for(int i = 0; i < nofNodes; i++) {
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515 d_p[0] = meshPoints.get(3*i);
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516 d_p[1] = meshPoints.get(3*i+1);
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517 d_p[2] = meshPoints.get(3*i+2);
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518 partPoints.InsertPoint(i, d_p);
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521 partGrid.SetPoints(partPoints);
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522 partPoints.Delete();
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527 private static vtkPolyData createTestPartGrid ()
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531 double[] nodes = new double[(size+1)*(size+1)*3];
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532 int[] triangles = new int[3 * size * size * 2];
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535 for (int i = 0; i <= size; i++) {
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536 for (int j = 0; j <= size; j++) {
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537 int index = j * size + i;
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539 double x = (double)i * es;
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540 double y = (Math.sin((double)i/(double)size) + Math.sin((double)j/(double)size)) * es;
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541 double z = (double)j * es;
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543 nodes[index+1] = y;
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544 nodes[index+2] = z;
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548 for (int i = 0; i < size; i++) {
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549 for (int j = 0; j < size; j++) {
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550 int index = j * size + i;
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553 triangles[index ] = (j * (size+1) + i );
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554 triangles[index+1] = (j * (size+1) + i+1);
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555 triangles[index+2] = ((j+1) * (size+1) + i );
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556 triangles[index+3] = ((j+1) * (size+1) + i );
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557 triangles[index+4] = ((j ) * (size+1) + i +1 );
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558 triangles[index+5] = ((j+1) * (size+1) + i +1 );
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562 int nofTriangles = triangles.length / 3;
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563 int nofNodes = nodes.length / 3;
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565 if(nofTriangles < 1) {
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574 //System.out.println("v " + nofNodes + " t " +nofTriangles);
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575 vtkPolyData partGrid = new vtkPolyData();
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576 partGrid.Allocate(nofTriangles, nofTriangles);
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578 vtkTriangle triangle = new vtkTriangle();
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579 vtkIdList list = triangle.GetPointIds();
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580 for(int i = 0; i < nofTriangles; i++)
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583 n0 = triangles[3 * i]; n1 = triangles[3 * i + 1]; n2 = triangles[3 * i + 2]; // triangles(i).Get(n0, n1, n2);
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585 // if(face.orientation() != TopAbs_Orientation.FORWARD) {
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586 // int tmp = n2; n2 = n1; n1 = tmp;
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592 partGrid.InsertNextCell(triangle.GetCellType(), list);
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596 triangle.Delete();
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598 vtkPoints partPoints = new vtkPoints();
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599 for(int i = 0; i < nofNodes; i++) {
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600 double xyz[] = new double[]{nodes[3 * i], nodes[3 * i + 1], nodes[3 * i + 2]};
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601 partPoints.InsertPoint(i, xyz);
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604 partGrid.SetPoints(partPoints);
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606 partPoints.Delete();
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611 public static void test() {
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612 TopoDS_Shape shape = null;
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613 //shape = OccTriangulator.makeCylinder(new double[]{0,0,0}, new double[]{0,1,0}, 1, 1);
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614 for (int t = 0; t < 5000; t++) {
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615 //shape = OccTriangulator.makeCylinder(new double[]{0,0,0}, new double[]{0,1,0}, 1, 1);
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618 vtkAssembly ass = VTKOCCTool.vtkOCCShapeToAssembly(shape);
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619 vtkPropCollection col;
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620 col = ass.GetParts();
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621 for (int i = 0; i < col.GetNumberOfItems(); i++)
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623 vtkProp prop = (vtkProp) col.GetItemAsObject(i);
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624 //System.out.println(prop.Print());
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630 else if (test == 1) {
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631 //BRepTools.clean(shape);
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634 vtkAssembly ass = new vtkAssembly();
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636 double vol = OCCTTool.getBoundingBoxDiagonal(shape);
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637 double d = 0.001 * vol;
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638 BRepMesh_IncrementalMesh mesh = new BRepMesh_IncrementalMesh(shape,d);
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639 TopExp_Explorer expFace = new TopExp_Explorer();
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640 for (expFace.init(shape, TopAbs_ShapeEnum.FACE); expFace.more(); expFace.next()) {
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641 TopoDS_Face face = (TopoDS_Face) expFace.current();
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643 // TopLoc_Location Location = new TopLoc_Location();
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644 // Poly_Triangulation triangulation = BRep_Tool.triangulation(face, Location);
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645 // if (triangulation != null) {
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647 // int[]triangles = triangulation.triangles();
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648 // double[]nodes = triangulation.nodes();
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649 // int nofTriangles = triangulation.nbTriangles();
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650 // int nofNodes = triangulation.nbNodes();
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652 // triangulation.delete();
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654 // GP_Trsf transformation = Location.transformation();
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655 // double d_mat[] = new double[16];
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656 // transformation.getValues(d_mat);
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657 // Matrix4d mat = new Matrix4d(d_mat);
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658 // for(int i = 0; i < nofNodes; i++) {
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659 // //double xyz[] = new double[]{nodes[3 * i], nodes[3 * i + 1], nodes[3 * i + 2]};
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660 // Point3d p = new Point3d(nodes[3 * i], nodes[3 * i + 1], nodes[3 * i + 2]);
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661 // //transformation.transforms(xyz);
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662 // mat.transform(p);
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664 // transformation.delete();
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667 // Location.delete();
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668 vtkPolyData data = VTKOCCTool.createPartGrid(face);
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669 VTKOCCTool.gridToAssembly(ass, data);
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677 vtkPropCollection col;
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678 col = ass.GetParts();
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679 for (int i = 0; i < col.GetNumberOfItems(); i++)
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681 vtkProp prop = (vtkProp) col.GetItemAsObject(i);
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682 //System.out.println(prop.Print());
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687 } else if (test == 2) {
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688 double[] pointStruct = new double[]{0,0,0}, dirStruct = new double[]{0,1,0};
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689 double radius = 1.0;
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690 double height = 1.0;
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692 double[] axe = new double[6];
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694 System.arraycopy(pointStruct, 0, axe, 0, 3);
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695 System.arraycopy(dirStruct, 0, axe, 3, 3);
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696 org.jcae.opencascade.jni.BRepPrimAPI_MakeCylinder cyl = new org.jcae.opencascade.jni.BRepPrimAPI_MakeCylinder(axe, radius, height, 2 * Math.PI);
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697 org.jcae.opencascade.jni.TopoDS_Shape tds = cyl.shape();
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700 double vol = OCCTTool.getBoundingBoxDiagonal(tds);
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701 double d = 0.001 * vol;
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702 BRepMesh_IncrementalMesh mesh = new BRepMesh_IncrementalMesh(tds,d);
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703 // TopExp_Explorer expFace = new TopExp_Explorer();
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704 // for (expFace.init(tds, TopAbs_ShapeEnum.FACE); expFace.more(); expFace.next()) {
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705 // TopoDS_Face face = (TopoDS_Face) expFace.current();
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716 System.out.println(t);
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